RigidBody2D::RigidBody2D(PhysWorld2D* world, float mass, Collider2DRef geom) :
m_geom(),
m_userData(nullptr),
m_world(world),
m_isStatic(false),
m_gravityFactor(1.f),
m_mass(mass)
{
NazaraAssert(m_world, "Invalid world");
m_handle = Create(mass);
SetGeom(geom);
}
RigidBody2D::RigidBody2D(PhysWorld2D* world, float mass, Collider2DRef geom) :
m_geom(),
m_userData(nullptr),
m_world(world),
m_isRegistered(false),
m_isSimulationEnabled(true),
m_isStatic(false),
m_gravityFactor(1.f),
m_mass(mass)
{
NazaraAssert(m_world, "Invalid world");
m_handle = Create(mass);
SetGeom(std::move(geom));
}
RigidBody2D::RigidBody2D(const RigidBody2D& object) :
m_geom(object.m_geom),
m_userData(object.m_userData),
m_world(object.m_world),
m_isStatic(object.m_isStatic),
m_gravityFactor(object.m_gravityFactor),
m_mass(object.GetMass())
{
NazaraAssert(m_world, "Invalid world");
NazaraAssert(m_geom, "Invalid geometry");
m_handle = Create(m_mass, object.GetMomentOfInertia());
SetGeom(object.GetGeom(), false);
CopyBodyData(object.GetHandle());
for (std::size_t i = 0; i < m_shapes.size(); ++i)
m_shapes[i]->bb = cpShapeCacheBB(object.m_shapes[i]);
}
// Constructor
Problem::Problem(Geom *geom, Model *model, string path = "") {
SetGeom(geom);
SetModel(model);
if ((path.length() > 0)&&(path[path.length()-1] != '/'))
path += "/";
FilePath = path;
READ_PARAMETER_OR_DEFAULT(InitialState,M->LowerState + \
0.5*(M->UpperState - M->LowerState));
READ_PARAMETER_OR_DEFAULT(GoalState,M->LowerState);
StateDim = M->StateDim;
InputDim = M->InputDim;
LowerState = M->LowerState;
UpperState = M->UpperState;
NumBodies = G->NumBodies;
MaxDeviates = G->MaxDeviates;
}
